Made CartesianWaypoint accept CartesianState as input #317

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Run time

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Job	Run time
build (0.11.0) / build_and_test	1m 53s
build (0.10.0) / build_and_test	1m 46s
build (0.12.1) / build_and_test	1m 55s
build (0.13.3) / build_and_test	2m 11s
build (0.8.0) / build_and_test	1m 59s
build (0.7.1) / build_and_test	2m 9s
build (0.9.2) / build_and_test	1m 51s
	13m 44s